// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
//
// Permission is hereby granted, free of charge, to any person obtaining a
// copy of this software and associated documentation files (the "Software"),
// to deal in the Software without restriction, including without limitation
// the rights to use, copy, modify, merge, publish, distribute, sublicense,
// and/or sell copies of the Software, and to permit persons to whom the
// Software is furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
// DEALINGS IN THE SOFTWARE.

#include "./drawable_polygon3d.h"
#include <GL/glut.h>

namespace depth_clustering {

void DrawablePolygon3d::Draw() const {
  if (polygon_.empty()) {
    return;
  }
  glPushMatrix();
  const auto start = polygon_.front();
  glColor3f(color_[0], color_[1], color_[2]);
  glLineWidth(4.0f);
  glBegin(GL_LINE_STRIP);

  // Bottom polygon
  for (const auto& point : polygon_) {
    glVertex3f(point.x(), point.y(), point.z());
  }
  glVertex3f(start.x(), start.y(), start.z());

  // Top polygon
  for (const auto& point : polygon_) {
    glVertex3f(point.x(), point.y(), point.z() + height_);
  }
  glVertex3f(start.x(), start.y(), start.z() + height_);

  glEnd();

  glBegin(GL_LINES);
  // For the Sides of the polygon
  for (const auto& point : polygon_) {
    glVertex3f(point.x(), point.y(), point.z());
    glVertex3f(point.x(), point.y(), point.z() + height_);
  }
  glEnd();
  glPopMatrix();
}

}  // namespace depth_clustering
